/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 6 of the cookbook:
   Computer Vision Programming using the OpenCV Library.
   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify,
   and distribute this source code, or portions thereof, for any purpose, without fee,
   subject to the restriction that the copyright notice may not be removed
   or altered from any source or altered source distribution.
   The software is released on an as-is basis and without any warranties of any kind.
   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
   The author disclaims all warranties with regard to this software, any use,
   and any consequent failure, is purely the responsibility of the user.
 

   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/

#if !defined SOBELEDGES
#define SOBELEDGES

#define PI 3.1415926

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>

class EdgeDetector
{

  private:
    // original image
    cv::Mat img;

    // 16-bit signed int image
    cv::Mat sobel;

    // Aperture size of the Sobel kernel
    int aperture;

    // Sobel magnitude
    cv::Mat sobelMagnitude;

    // Sobel orientation
    cv::Mat sobelOrientation;

  public:
    EdgeDetector() : aperture(3) {}

    // Set the aperture size of the kernel
    void setAperture(int a) { aperture = a; }

    // Get the aperture size of the kernel
    int getAperture() const { return aperture; }

    // Compute the Sobel
    void computeSobel(const cv::Mat& image, cv::Mat& sobelX = cv::Mat(),
                      cv::Mat& sobelY = cv::Mat())
    {

        // Compute Sobel
        cv::Sobel(image, sobelX, CV_32F, 1, 0, aperture);
        cv::Sobel(image, sobelY, CV_32F, 0, 1, aperture);

        // Compute magnitude and orientation
        cv::cartToPolar(sobelX, sobelY, sobelMagnitude, sobelOrientation);
    }

    // Get Sobel magnitude
    // Make a copy if called more than once
    cv::Mat getMagnitude() { return sobelMagnitude; }

    // Get Sobel orientation
    // Make a copy if called more than once
    cv::Mat getOrientation() { return sobelOrientation; }

    // Get a thresholded binary map
    cv::Mat getBinaryMap(double threshold)
    {

        cv::Mat bin;
        cv::threshold(sobelMagnitude, bin, threshold, 255, cv::THRESH_BINARY_INV);

        return bin;
    }

    // Get a CV_8U image of the Sobel
    cv::Mat getSobelImage()
    {

        cv::Mat bin;

        double minval, maxval;
        cv::minMaxLoc(sobelMagnitude, &minval, &maxval);
        sobelMagnitude.convertTo(bin, CV_8U, 255 / maxval);

        return bin;
    }

    // Get a CV_8U image of the Sobel orientation
    // 1 gray-level = 2 degrees
    cv::Mat getSobelOrientationImage()
    {

        cv::Mat bin;

        sobelOrientation.convertTo(bin, CV_8U, 90 / PI);

        return bin;
    }
};

#endif
